Class LateralDistanceAction

Applied Stereotypes:
XSDcomplexType
Implements Interfaces:
MotionControlAction

This action describes a continuously kept lateral distance of an entity with respect to a reference entity. The distance can be maintained by using a controller, requiring limiting values for lateral acceleration, lateral deceleration and lateral speed. Without this limiting parameters lateral distance is kept rigid. Distance measurement could either be calculated from the distance between the entities' reference points or from the free space between the entities' bounding boxes.

Used in:
LateralAction
Properties
Name Type Cardinality AppliedStereotypes Description
continuous boolean 1..1 XSDattribute If false, the action ends when the target distance is reached. If true it does not end and can only be stopped.
coordinateSystem CoordinateSystem 0..1 XSDattribute Definition of the coordinate system to be used for calculations. If not provided the value is interpreted as "entity". If "entity", the coordinate system is interpreted as the actor's local coordinate system.
displacement LateralDisplacement 0..1 XSDattribute The displacement in which the distance or time gap applies. Where omitted, 'any' is assumed.
distance double 0..1 XSDattribute Lateral distance value. Missing value is interpreted as 0. Unit: m; Range: [0..inf[.
entityRef Entity 1..1 nameRef, XSDattribute Name of the reference entity the lateral distance shall be kept to.
freespace boolean 1..1 XSDattribute True: Lateral distance is measured using the distance between closest bounding box points. False: Reference point distance is used.
dynamicConstraints DynamicConstraints 0..1 XSDelement Parameter that assigns either unlimited dynamics (if omitted) or limited maxAcceleration/maxDeceleration/maxSpeed to the action.

XSD 1.1 Representation


<xsd:complexType name="LateralDistanceAction">
<xsd:all>
<xsd:element name="DynamicConstraints" type="DynamicConstraints" minOccurs="0"/>
</xsd:all>
<xsd:attribute name="entityRef" type="String" use="required"/>
<xsd:attribute name="continuous" type="Boolean" use="required"/>
<xsd:attribute name="distance" type="Double"/>
<xsd:attribute name="freespace" type="Boolean" use="required"/>
<xsd:attribute name="displacement" type="LateralDisplacement"/>
<xsd:attribute name="coordinateSystem" type="CoordinateSystem"/>
</xsd:complexType>

Change log from version 1.0
  • Property 'coordinateSystem' created.
  • Property 'displacement' created.
  • Property 'distance'. Annotation changed.
    • New Value
      Lateral distance value. Missing value is interpreted as 0. Unit: m; Range: [0..inf[.
      From 1.0.0
      Lateral distance value. Unit: m; Range: [0..inf[.

Stereotype Details Information
  • Class
    • XSDcomplexType [modelGroup: "all"; mixed: "false"]
  • Property continuous
    • XSDattribute
  • Property coordinateSystem
    • XSDattribute
  • Property displacement
    • XSDattribute
  • Property distance
    • XSDattribute
  • Property entityRef
    • nameRef [xsdType: "string"]
    • XSDattribute
  • Property freespace
    • XSDattribute
  • Property dynamicConstraints
    • XSDelement [position: "2"]

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